For dough: In the bowl of a stand mixer, whisk together flour, yeast, and salt.

In a small saucepan, heat milk, butter, and honey over medium heat, stirring frequently, until butter is melted and mixture registers 120°F (49°C) to 130°F (54°C) on an instant-read thermometer. Add warm milk mixture and banana to fl our mixture. Using the paddle attachment, beat at low speed until a shaggy dough forms.

Switch to the dough hook attachment; beat at medium-low speed until a smooth, elastic dough forms, 7 to 8 minutes, stopping to scrape bottom and sides of bowl and dough hook. Turn out dough onto a lightly floured surface, and shape into a round.

Lightly spray a large bowl with cooking spray. Place dough in bowl, turning to grease top. Cover and let rise in a warm, draft-free place (75°F/24°C) until doubled in size, about 30 minutes.

Lightly spray a 13x9-inch baking dish with baking spray with flour.

For filling: In a small saucepan, whisk together banana, brown sugar, and cinnamon. Bring to a boil over medium heat, whisking until sugar dissolves. Cook, whisking constantly, until mixture thickens, about 3 minutes. Pour into a heatproof bowl, and let cool completely.

Punch down dough, and turn out onto a lightly floured surface. Roll dough into a 19x13-inch rectangle. Using an offset spatula, spread cooled filling onto dough, leaving a ½-inch border on both short sides and long side closest to you. Starting at long side without border, tightly roll dough into a log. Using a sharp serrated knife or unflavored dental floss, trim ½ inch off each end of log. Cut log into 12 slices (about 1½ inches thick). Place slices, cut side up, in prepared pan. Cover and let rise in a warm, draft-free place (75°F/24°C) until puffed, about 20 minutes.

Preheat oven to 350°F (180°C).

Pour warm cream all over rolls.

Bake until centers are set and edges are golden brown, 20 to 25 minutes. Let cool in pan on a wire rack for 15 minutes.

For topping: In a small bowl, whisk together confectioners’ sugar and milk; drizzle onto rolls. Garnish with walnuts, if desired. Serve warm.